/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */

#ifndef HINGECONSTRAINT_H
#define HINGECONSTRAINT_H

#include "btVector3.h"
#include "btJacobianEntry.h"
#include "btTypedConstraint.h"

class btRigidBody;

/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
/// axis defines the orientation of the hinge axis
class btHingeConstraint : public btTypedConstraint
{
#ifdef IN_PARALLELL_SOLVER
public:
#endif
    btJacobianEntry    m_jac[3]; //3 orthogonal linear constraints
    btJacobianEntry    m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor

    btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis.
    btTransform m_rbBFrame;

    btScalar    m_motorTargetVelocity;
    btScalar    m_maxMotorImpulse;

    btScalar    m_limitSoftness;
    btScalar    m_biasFactor;
    btScalar    m_relaxationFactor;

    btScalar    m_lowerLimit;
    btScalar    m_upperLimit;

    btScalar    m_kHinge;

    btScalar    m_limitSign;
    btScalar    m_correction;

    btScalar    m_accLimitImpulse;
    btScalar    m_hingeAngle;
    btScalar    m_referenceSign;

    bool        m_angularOnly;
    bool        m_enableAngularMotor;
    bool        m_solveLimit;
    bool        m_useSolveConstraintObsolete;
    bool        m_useReferenceFrameA;

    btScalar    m_accMotorImpulse;


public:

    btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB, bool useReferenceFrameA = false);

    btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA, bool useReferenceFrameA = false);

    btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);

    btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false);

    btHingeConstraint();

    virtual void    buildJacobian();

    virtual void getInfo1 (btConstraintInfo1* info);

    virtual void getInfo2 (btConstraintInfo2* info);

    virtual    void    solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar    timeStep);

    void    updateRHS(btScalar    timeStep);

    const btRigidBody& getRigidBodyA() const
    {
        return m_rbA;
    }
    const btRigidBody& getRigidBodyB() const
    {
        return m_rbB;
    }

    btRigidBody& getRigidBodyA()
    {
        return m_rbA;
    }

    btRigidBody& getRigidBodyB()
    {
        return m_rbB;
    }

    void    setAngularOnly(bool angularOnly)
    {
        m_angularOnly = angularOnly;
    }

    void    enableAngularMotor(bool enableMotor,btScalar targetVelocity,btScalar maxMotorImpulse)
    {
        m_enableAngularMotor  = enableMotor;
        m_motorTargetVelocity = targetVelocity;
        m_maxMotorImpulse = maxMotorImpulse;
    }

    // extra motor API, including ability to set a target rotation (as opposed to angular velocity)
    // note: setMotorTarget sets angular velocity under the hood, so you must call it every tick to
    //       maintain a given angular target.
    void enableMotor(bool enableMotor)     { m_enableAngularMotor = enableMotor; }
    void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; }
    void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B.
    void setMotorTarget(btScalar targetAngle, btScalar dt);


    void    setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
    {
        m_lowerLimit = low;
        m_upperLimit = high;

        m_limitSoftness =  _softness;
        m_biasFactor = _biasFactor;
        m_relaxationFactor = _relaxationFactor;

    }

    void    setAxis(btVector3& axisInA)
    {
        btVector3 rbAxisA1, rbAxisA2;
        btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
        btVector3 pivotInA = m_rbAFrame.getOrigin();
//        m_rbAFrame.getOrigin() = pivotInA;
        m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
                                        rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
                                        rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );

        btVector3 axisInB = m_rbA.getCenterOfMassTransform().getBasis() * axisInA;

        btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
        btVector3 rbAxisB1 =  quatRotate(rotationArc,rbAxisA1);
        btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);


        m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(pivotInA);
        m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
                                        rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
                                        rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
    }

    btScalar    getLowerLimit() const
    {
        return m_lowerLimit;
    }

    btScalar    getUpperLimit() const
    {
        return m_upperLimit;
    }


    btScalar getHingeAngle();

    void testLimit();


    const btTransform& getAFrame() const { return m_rbAFrame; };
    const btTransform& getBFrame() const { return m_rbBFrame; };

    btTransform& getAFrame() { return m_rbAFrame; };
    btTransform& getBFrame() { return m_rbBFrame; };

    inline int getSolveLimit()
    {
        return m_solveLimit;
    }

    inline btScalar getLimitSign()
    {
        return m_limitSign;
    }

    inline bool getAngularOnly()
    {
        return m_angularOnly;
    }
    inline bool getEnableAngularMotor()
    {
        return m_enableAngularMotor;
    }
    inline btScalar getMotorTargetVelosity()
    {
        return m_motorTargetVelocity;
    }
    inline btScalar getMaxMotorImpulse()
    {
        return m_maxMotorImpulse;
    }

};

#endif //HINGECONSTRAINT_H
